CN107758365A - A kind of feed manufacturing machine stacking machine - Google Patents

Abstract

The invention discloses a feed mechanical palletizer, which comprises a mechanical gripper, a first cylinder, a swing rod, a connecting plate, a beam, a connecting shaft of the swing rod, a support plate, grasping teeth, a first mechanical arm, a connecting plate, a first Revolving shaft, first connecting rod, second cylinder, second mechanical arm, second rotating shaft, second connecting rod, shaft coupling, servo motor, workbench, air pipe, shell, gas storage base, universal wheel, placing table, An air storage tank, a rotating electrical machine, a fixed base and telescopic fixing parts thereof. The feed mechanical palletizer provided by the present invention has a plurality of gripping teeth, which are convenient for gripping and clamping various packaged feeds, and the gripping teeth are rotatably connected to the first mechanical arm, and the second mechanical arm is connected to the The first mechanical arm is rotatably connected to facilitate the stacking of feeds of different heights, and the second mechanical arm is rotatably connected to the housing to facilitate the stacking of feeds at different positions, making the working range wider and convenient for stacking multiple production lines at the same time feed.

Description

A feed machinery palletizer

technical field

The invention relates to a palletizer, in particular to a feed machinery palletizer, which belongs to the technical field of mechanical applications.

Background technique

With the rapid development of society, the rapid development of science and technology, and the popularization of mechanization, mechanical equipment is widely used in industry and agriculture. The popularization of mechanization has greatly liberated productivity, reduced the workload of the people, and improved production efficiency. Palletizers are Put the cartons that have been loaded into the container on pallets and pallets (wooden, plastic) according to a certain arrangement, and perform automatic stacking. Multi-layer stacking can be stacked, and then rolled out, which is convenient for forklifts to transport to the warehouse for storage. The palletizer equipment adopts PLC and touch screen control, realize intelligent operation and management, simple and easy to master, can greatly reduce labor force and labor intensity, palletizer is the work of bags, cartons or other packaging materials transported by the conveyor according to the customer's process requirements It is a device that automatically stacks into stacks and transports the stacked materials.

However, the installation and disassembly of the currently used palletizer is complicated, the palletizing range is small during use, and the items of multiple production lines cannot be palletized at the same time, and the height range of the palletizing is small. Therefore, a feed mechanical palletizer is proposed to solve the above problems.

Contents of the invention

The object of the present invention is to provide a feed machinery palletizer with flexible operation and high working efficiency in order to solve the above problems.

The present invention achieves the above object through the following technical solutions. A feed mechanical palletizer includes a mechanical gripper, a first cylinder, a swing rod, a connecting plate, a beam, a connecting shaft of the swing rod, a support plate, grasping teeth, a first mechanical Arm, connecting plate, first rotating shaft, first connecting rod, second cylinder, second mechanical arm, second rotating shaft, second connecting rod, shaft coupling, servo motor, workbench, air pipe, shell, gas storage base, Universal wheels, placing platform, gas storage tank, rotating motor, fixed base, and telescopic fixing parts; the gas storage base is rotatably connected with the housing; the gas storage base includes universal wheels, a placing platform, and a gas storage tank , a rotating motor, a fixed base, and a telescopic fixing member, the rotating motor is rotatably connected to the housing, the rotating motor is fixed on the fixed base, the gas storage tank is installed on the fixed base, and the placement table Installed on the fixed base, the universal wheels are fixed at the four corners of the fixed base, the telescopic fixing member is fixed on the fixed base; the workbench is fixed on the shell, and the workbench It is electrically connected with the gas storage base; the bottom end of the gas storage base is equipped with the universal wheel;

The second mechanical arm is fixed to the housing, and the second mechanical arm is electrically connected to the workbench; the second mechanical arm includes a second rotating shaft, a second connecting rod, a shaft coupling, and a servo motor. The second rotating shaft passes through the first connecting rod, the second connecting rod is rotationally connected with the first connecting rod through the second rotating shaft, the shaft coupling is fixed on the first connecting rod, the The shaft coupling is rotatably connected to the servo motor, and the servo motor is fixed to the housing; the first mechanical arm is rotatably connected to the second mechanical arm, and the first mechanical arm is electrically connected to the worktable. connection; the first mechanical arm includes a connecting plate, a first rotating shaft, a first connecting rod, and a second cylinder, the connecting plate is fixed on the connecting plate, the first rotating shaft passes through the connecting plate, the The first connecting rod is rotatably connected to the connecting plate through the first rotating shaft, one end of the second cylinder is threadedly connected to the connecting plate, and the other end is fixed to the first connecting rod, and the second cylinder is connected on the trachea; the second mechanical arm is rotationally connected to the first mechanical arm, and the second mechanical arm is rotationally connected to the housing;

The mechanical gripper is rotatably connected to the first mechanical arm, and the first mechanical arm is electrically connected to the workbench; the mechanical gripper includes a first cylinder, a swing rod, a connection plate, a beam, and a swing rod A connecting shaft, a support plate, and gripping teeth, the connecting plate is fixed to the first mechanical arm, the beam is fixed to the connecting plate, the first cylinder is fixed to the beam, and the first cylinder is connected to the The air pipe, the first air cylinder are connected to the swing rod, the connecting shaft of the swing rod passes through the beam, the connecting shaft of the swing rod is connected to the swing rod, and the support plate is welded to the swing rod Rod, the gripping teeth are welded to the support plate; air pipe, the air pipe is fixed to the shell, and the air pipe is connected to the air storage base, the first mechanical arm, the second mechanical arm, In the mechanical gripper, there are a plurality of gripping teeth, which are symmetrically welded to the support plate, and the gripping teeth are rotatably connected to the first mechanical arm.

Preferably, the gas storage tank is electrically connected to the workbench, the rotating motor is electrically connected to the workbench, the servo motor is electrically connected to the workbench, and the second cylinder is electrically connected to the workbench. sexual connection.

Preferably, there are two first cylinders, which are symmetrically fixed to the beam with respect to the connection plate, and the rotation angle of the swing rod is 30°.

Preferably, the rotation angle of the housing is 0-360°.

Preferably, the length of the telescopic fixing member is greater than the height of the universal wheel.

Preferably, there are multiple gripping teeth, and the gripping teeth are vertically welded to the support plate.

The beneficial effects of the present invention are: the present invention provides a feed mechanical palletizer, the set mechanical gripper uses the first cylinder as the transmission device, the operation is flexible, the gripping teeth have a plurality of them, and are symmetrically welded to the The support plate is convenient for grasping various packaged feeds, the gripping teeth are rotatably connected with the first mechanical arm, and the second mechanical arm is rotatably connected with the first mechanical arm, which is convenient for stacking feeds of different heights. Feed, the second mechanical arm is rotatably connected with the housing, which is convenient for stacking feed in different positions, making the working range wider, and convenient for stacking feed of multiple production lines at the same time. The bottom end of the air storage base is installed with The universal wheel facilitates the movement of the equipment. The first cylinder, the second cylinder and other parts are connected by threads, which is convenient for disassembly and installation. The workbench adopts numerical control equipment to make the positioning of the mechanical gripper more accurate. , each stacking can be accurate to ±0.3mm error range, has good social and economic benefits, and is suitable for popularization and use.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is the structural representation of mechanical gripper of the present invention;

Fig. 3 is a schematic diagram of the internal structure of the gas storage base of the present invention;

Symbols in the figure: 1, mechanical gripper, 11, first cylinder, 12, swing rod, 13, connection plate, 14, beam, 15, swing rod connecting shaft, 16, support plate, 17, grasping teeth, 2, the first A mechanical arm, 21, connecting plate, 22, the first rotating shaft, 23, the first connecting rod, 24, the second cylinder, 3, the second mechanical arm, 31, the second rotating shaft, 32, the second connecting rod, 33, Shaft coupling, 34, servo motor, 4, workbench, 5, air pipe, 6, shell, 7, air storage base, 71, universal wheel, 72, placement table, 73, air storage tank, 74, rotating motor, 75, fixed base, 76, telescopic fixing part.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1-3, a feed mechanical palletizer, including a mechanical gripper 1, a first cylinder 11, a swing rod 12, a connecting plate 13, a beam 14, a swing rod connecting shaft 15, a support plate 16, a grab Teeth 17, first mechanical arm 2, connecting plate 21, first rotating shaft 22, first connecting rod 23, second cylinder 24, second mechanical arm 3, second rotating shaft 31, second connecting rod 32, shaft coupling 33 , servo motor 34, workbench 4, trachea 5, shell 6, gas storage base 7, universal wheel 71, placement table 72, gas storage tank 73, rotating motor 74, fixed base 75, telescopic fixing member 76; The gas storage base 7 is rotatably connected with the housing 6; the gas storage base 7 includes a universal wheel 71, a placement table 72, an air storage tank 73, a rotating motor 74, a fixed base 75, and a telescopic fixing member 76. The motor 74 is rotatably connected to the housing 6, the rotating motor 74 is fixed on the fixed base 75, the gas storage tank 73 is installed on the fixed base 75, the placing table 72 is installed on the fixed base 75, The universal wheels 71 are fixed on the four corners of the fixed base 75, and the telescopic fixing member 76 is fixed on the fixed base 75; the workbench 4 is fixed on the shell 6, and the workbench 4 It is electrically connected with the gas storage base 7; the universal wheel 71 is installed on the bottom of the gas storage base 7 to facilitate the movement of the equipment. The workbench 4 adopts numerical control equipment to make the positioning of the mechanical gripper 1 easier Accurate, each palletizing can be accurate to ±0.3mm error range.

The second mechanical arm 3 is fixed to the housing 6, and the second mechanical arm 3 is electrically connected to the workbench 4; the second mechanical arm 3 includes a second rotating shaft 31, a second connecting rod 32, a shaft Linkage 33, servo motor 34, the second rotating shaft 31 runs through the first connecting rod 23, the second connecting rod 32 is rotationally connected with the first connecting rod 23 through the second rotating shaft 31, so The shaft coupling 33 is fixed to the first connecting rod 23, the shaft coupling 33 is rotatably connected to the servo motor 34, and the servo motor 34 is fixed to the housing 6; the first mechanical arm 2 rotates Connected to the second mechanical arm 3, and the first mechanical arm 2 is electrically connected to the workbench 4; the first mechanical arm 2 includes a connecting plate 21, a first rotating shaft 22, and a first connecting rod 23 , the second cylinder 24, the connecting plate 21 is fixed on the connecting plate 13, the first rotating shaft 22 runs through the connecting plate 21, the first connecting rod 23 connects with the connecting plate 22 through the first rotating shaft 22 The connecting plate 21 is rotationally connected, one end of the second cylinder 24 is threadedly connected to the connecting plate 21, and the other end is fixed to the first connecting rod 23, and the second cylinder 24 is connected to the air pipe 5; The second mechanical arm 3 is rotatably connected with the first mechanical arm 2, which is convenient for stacking feeds of different heights, and the second mechanical arm 3 is rotatably connected with the housing 6, which is convenient for stacking feeds at different positions and making it work The scope is wider, and it is convenient to stack the feed of multiple production lines at the same time. The first cylinder 11, the second cylinder 24 and other parts are all connected by threads, which is convenient for disassembly and installation.

The mechanical gripper 1 is rotatably connected to the first mechanical arm 2, and the first mechanical arm 2 is electrically connected to the workbench 4; the mechanical gripper 1 includes a first cylinder 11, a swing rod 12 , connecting plate 13, crossbeam 14, swing rod connecting shaft 15, support plate 16, grasping tooth 17, described connecting plate 13 is fixed on described first mechanical arm 2, and described crossbeam 14 is fixed on described connecting plate 13, so The first cylinder 11 is fixed on the beam 14, the first cylinder 11 is connected to the air pipe 5, the first cylinder 11 is connected to the swing rod 12, and the connecting shaft of the swing rod 12 runs through the Crossbeam 14, the fork connecting shaft 15 is connected to the fork 12, the support plate 16 is welded to the fork 12, the gripping teeth 17 are welded to the support plate 16; the trachea 5, the trachea 5 is fixed to the housing 6, and the air pipe 5 is connected to the gas storage base 7, the first mechanical arm 2, the second mechanical arm 3, and the mechanical gripper 1, and the mechanical The gripper 1 uses the first cylinder 11 as a transmission device and is flexible to operate. The gripping teeth 17 are multiple and symmetrically welded to the support plate 16, which is convenient for gripping various packaged feeds. The gripping teeth 17 It is rotatably connected with the first mechanical arm 2 .

In order to realize intelligent control, the gas storage tank 73 is electrically connected to the workbench 4, the rotating motor 74 is electrically connected to the workbench 4, and the servo motor 34 is electrically connected to the workbench 4. connected, the second cylinder 24 is electrically connected to the workbench 4 .

In order to make the mechanical gripper 1 more flexible, there are two first cylinders 11, which are symmetrically fixed to the beam 14 with respect to the connection plate 13, and the rotation angle of the swing rod 12 is 30°.

In order to make the stacking range wider, the rotation angle of the housing 6 is 0-360°.

In order to effectively fix the equipment, the length of the telescopic fixing member 76 is greater than the height of the universal wheel 71 .

In order to adapt to the stacking of various feeds, there are multiple gripping teeth 17 , and the gripping teeth 17 are vertically welded to the support plate 16 .

When in use, first fix the palletizer near the production line, connect the power supply, set the parameters through the workbench 4, set the stacking height and range, turn on the power switch, and the equipment starts to work, and the workbench 4 controls the The rotary motor 74 drives the casing 6 to rotate, and when it rotates to the position of the production line, the workbench 4 controls the second cylinder 24 and the servo motor 34 to start working, so that the first mechanical arm 2 and the The second mechanical arm 3 starts to rotate towards the feed object, and at the same time the first cylinder 11 begins to extend, and the first cylinder 11 drives the gripping teeth 17 to move outward, when the feed object completely enters the gripping teeth 17 During the interval, the first cylinder 11 starts to shrink, and the feed is picked up. At the same time, the second mechanical arm 3 and the first mechanical arm 2 rotate upwards, and the rotating motor 74 drives the feed to The stacking direction rotates, and when arriving at the stacking site, the workbench 4 controls the second cylinder 24 and the servo motor 34 to start working, so that the first mechanical arm 2 and the second mechanical arm 3 It starts to rotate toward the feed stacking direction, and at the same time, the first cylinder 11 starts to extend, and the first cylinder 11 drives the gripping teeth 17 to move outwards to realize the stacking of feed.

It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (6)

1. a kind of feed manufacturing machine stacking machine, including mechanical gripper (1), the first cylinder (11), swing rod (12), terminal pad (13), horizontal stroke Beam (14), swing rod connecting shaft (15), supporting plate (16), grasping teeth (17), first mechanical arm (2), connecting plate (21), first rotating shaft (22), head rod (23), the second cylinder (24), second mechanical arm (3), the second rotating shaft (31), the second connecting rod (32), axle Join part (33), servomotor (34), workbench (4), tracheae (5), shell (6), gas storage base (7), universal wheel (71), mounting table (72), air accumulator (73), electric rotating machine (74), firm banking (75), telescopic fixture (76)；It is characterized in that：The storage Gas base (7) is rotatablely connected with the shell (6)；The gas storage base (7) includes universal wheel (71), mounting table (72), gas storage Tank (73), electric rotating machine (74), firm banking (75), telescopic fixture (76), the electric rotating machine (74) are rotationally connected with The shell (6), the electric rotating machine (74) are fixed on the firm banking (75), and the air accumulator (73) is installed on described solid Determine base (75), the mounting table (72) is installed on the firm banking (75), and the universal wheel (71) is fixed on the fixation At the corner of base (75), the telescopic fixture (76) is fixed on the firm banking (75)；The workbench (4) is fixed In the shell (6), and the workbench (4) is electrically connected with the gas storage base (7)；The bottom of the gas storage base (7) The universal wheel (71) is installed；

The second mechanical arm (3) is fixed on the shell (6), and second mechanical arm (3) electrically connects with the workbench (4) Connect；The second mechanical arm (3) includes the second rotating shaft (31), the second connecting rod (32), axle connection part (33), servomotor (34), Second rotating shaft (31) passes through second rotating shaft through the head rod (23), second connecting rod (32) (31) it is rotatablely connected with the head rod (23), the axle connection part (33) is fixed on the head rod (23), described Axle connection part (33) is rotationally connected with the servomotor (34), and the servomotor (34) is fixed on the shell (6)；Described One mechanical arm (2) is rotationally connected with the second mechanical arm (3), and the first mechanical arm (2) and the workbench (4) are electrical Connection；The first mechanical arm (2) includes connecting plate (21), first rotating shaft (22), head rod (23), the second cylinder (24), the connecting plate (21) is fixed on the terminal pad (13), the first rotating shaft (22) through the connecting plate (21), The head rod (23) is rotatablely connected by the first rotating shaft (22) and the connecting plate (21), second cylinder (24) threaded one end is connected to the connecting plate (21), and the other end is fixed on the head rod (23), second gas Cylinder (24) is connected to the tracheae (5)；The second mechanical arm (3) is rotatablely connected with the first mechanical arm (2), and described second Mechanical arm (3) is rotatablely connected with the shell (6)；

The mechanical gripper (1) is rotationally connected with the first mechanical arm (2), and the first mechanical arm (2) is in the work Platform (4) is electrically connected with；The mechanical gripper (1) includes the first cylinder (11), swing rod (12), terminal pad (13), crossbeam (14), pendulum Bar connecting shaft (15), supporting plate (16), grasping teeth (17), the terminal pad (13) are fixed on the first mechanical arm (2), the horizontal stroke Beam (14) is fixed on the terminal pad (13), and first cylinder (11) is fixed on the crossbeam (14), first cylinder (11) tracheae (5) is connected to, first cylinder (11) is connected to the swing rod (12), and swing rod (12) connecting shaft is passed through The crossbeam (14) is through at, the swing rod connecting shaft (15) is connected to the swing rod (12), and the supporting plate (16) is welded in institute Swing rod (12) is stated, the grasping teeth (17) is welded in the supporting plate (16)；Tracheae (5), the tracheae (5) are fixed on the shell (6), and the tracheae (5) is connected to the gas storage base (7), the first mechanical arm (2), the second mechanical arm (3), institute State mechanical gripper (1), the grasping teeth (17) has multiple, and is symmetrically welded in the supporting plate (16), the grasping teeth (17) and institute State first mechanical arm (2) rotation connection.

A kind of 2. feed manufacturing machine stacking machine according to claim 1, it is characterised in that：The air accumulator (73) and the work Make platform (4) electric connection, the electric rotating machine (74) is electrically connected with the workbench (4), the servomotor (34) and institute Workbench (4) electric connection is stated, second cylinder (24) is electrically connected with the workbench (4).

A kind of 3. feed manufacturing machine stacking machine according to claim 1, it is characterised in that：First cylinder (11) has two It is individual, the crossbeam (14) is symmetrically fixed on the terminal pad (13), the rotational angle of the swing rod (12) is 30 °.

A kind of 4. feed manufacturing machine stacking machine according to claim 1, it is characterised in that：The anglec of rotation of the shell (6) For 0-360 °.

A kind of 5. feed manufacturing machine stacking machine according to claim 1, it is characterised in that：The telescopic fixture (76) Length is more than the height of the universal wheel (71).

A kind of 6. feed manufacturing machine stacking machine according to claim 1, it is characterised in that：The grasping teeth (17) has multiple, institute Grasping teeth (17) vertical welding is stated in the supporting plate (16).